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1. 发明申请

US20060212170A1 Laser-welding teaching device and method 审中-公开
标题翻译：激光焊接教学装置及方法
公开(公告)号：US20060212170A1
公开(公告)日：2006-09-21
申请号：US11362870
申请日：2006-02-28
申请人： Yoshiharu Nagatsuka , Yoshitake Furuya
发明人： Yoshiharu Nagatsuka , Yoshitake Furuya
IPC分类号： G06F19/00
CPC分类号： B23K26/0884 , B25J9/1671 , G05B19/4207 , G05B2219/35216 , G05B2219/36407 , G05B2219/40613 , G05B2219/45104
摘要： A laser welding teaching device, and a teaching method, for simplifying the teaching of the motion of a scanner and for reducing a welding operation time by a welding robot. The laser welding teaching device is connected to a robot control device for controlling the welding robot for welding a workpiece and sends a command to the robot control device. A laser oscillator is connected to a work tool of the robot and a laser scanner is mounted on the work tool. By using the laser scanner capable of moving at high-speed, the motion of the robot during the air cut motion may be greatly reduced, resulting in a significant reduction of the cycle time of the whole system.
摘要翻译：一种激光焊接教学装置和教学方法，用于简化扫描器运动的教导以及通过焊接机器人减少焊接操作时间。激光焊接教学装置连接到机器人控制装置，用于控制用于焊接工件的焊接机器人，并向机器人控制装置发送命令。激光振荡器连接到机器人的工作工具，激光扫描器安装在工作工具上。通过使用能够高速移动的激光扫描仪，在空气切割运动期间机器人的运动可能大大降低，导致整个系统的循环时间的显着降低。

2. 发明授权

US08788081B2 Application operation simulation device 有权
标题翻译：应用操作仿真装置
公开(公告)号：US08788081B2
公开(公告)日：2014-07-22
申请号：US13097717
申请日：2011-04-29
申请人： Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： G06F19/00 , B29C45/00 , G06F17/50 , G06F7/60 , G06F17/10 , G06G7/48
CPC分类号： G06F17/5009 , B05B13/0431
摘要： An application operation simulation device including a specification section that specifies positions of nozzles with respect to a spray device and injection shapes of injected materials; an interference point calculation section that performs a working program of a robot including instructions for outputting the injected materials to operate a three-dimensional model of the robot by simulation and calculate interference points between three-dimensional models of the injection shapes and a three-dimensional model of an applied member; an interference number calculation section that calculates the number of interference at each interference point on a surface of the three-dimensional model of the applied member; an application time calculation section that calculates application time from the number of interference; and a display section that displays the color-coded surface of the three-dimensional model.
摘要翻译：一种应用操作模拟装置，包括指定喷嘴相对于喷射装置的位置和喷射材料的喷射形状的指定部分; 干涉点计算部，其执行机器人的工作程序，其包括用于输出注射材料的指令，以通过模拟操作机器人的三维模型，并计算注射形状的三维模型之间的干涉点和三维应用成员模型; 干涉数计算部，其计算所施加部件的三维模型的表面上的各干涉点处的干涉次数; 应用时间计算部，根据干扰次数计算应用时间; 以及显示部，其显示三维模型的颜色编码表面。

3. 发明授权

US08155789B2 Device, method, program and recording medium for robot offline programming 有权
标题翻译：用于机器人离线编程的设备，方法，程序和记录介质
公开(公告)号：US08155789B2
公开(公告)日：2012-04-10
申请号：US11960995
申请日：2007-12-20
申请人： Yoshiharu Nagatsuka , Kozo Inoue
发明人： Yoshiharu Nagatsuka , Kozo Inoue
IPC分类号： G05B19/04
CPC分类号： B25J9/1656 , G05B2219/40387 , G05B2219/40394 , Y02P90/087 , Y02P90/14 , Y02P90/265
摘要： An offline programming device for preparing an operation program for making a robot with a hand perform a handling operation for an object with respect to a machine tool. The device includes a hand-position designating section designating a relative positional relationship between the object and the hand when the hand holds the object; a first calculating section determining a position and orientation of the object mounted on the machine tool when the robot performs the handling operation, based on a command specifying a position of the object and included in a workpiece processing program given to the machine tool; a second calculating section determining a position and orientation of the robot acting to hold the object by the hand when the robot performs the handling operation, based on the relative positional relationship between the object and the hand and the position and orientation of the object; and an operation-program generating section generating the operation program by using the position and orientation of the robot.
摘要翻译：用于准备用于制造具有手的机器人的操作程序的离线编程装置执行相对于机床的对象的处理操作。该装置包括指针位置指定部分，当手握住对象时指定对象与手之间的相对位置关系; 第一计算部，其基于指定所述物体的位置并包括在给予所述机床的工件处理程序中的指令，来确定安装在所述机床上的所述物体的位置和姿势; 第二计算部，基于所述物体与所述手的相对位置关系以及所述物体的位置和姿势，确定当所述机器人执行所述处理操作时用于保持所述物体的机器人的位置和姿态; 以及操作程序生成部，其通过使用所述机器人的位置和姿态来生成所述操作程序。

4. 发明授权

US07778729B2 Robot system and robot controller 有权
标题翻译：机器人系统和机器人控制器
公开(公告)号：US07778729B2
公开(公告)日：2010-08-17
申请号：US11458618
申请日：2006-07-19
申请人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
发明人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
IPC分类号： G06F19/00
CPC分类号： G05B19/4185 , B25J9/16 , Y02P90/18
摘要： A robot system capable of checking the status of all robot controllers connected to the same network by using at least one robot controller, among the robot controllers, having a function for checking the status. The robot system includes a plurality of robots and a plurality of robot controllers for controlling the robots. The robot controllers are connected to each other via a control network and also connected to an information network. The at least one robot controller, having the function of checking the status, transmits and receives data to and from the other robot controllers and, further, indicates information, concerning the statuses of the networks and the robots, on a display of a teaching operation panel of the at least one robot controller.
摘要翻译：一种机器人系统，其能够通过使用机器人控制器中的至少一个机器人控制器来检查连接到同一网络的所有机器人控制器的状态，具有检查状态的功能。机器人系统包括多个机器人和用于控制机器人的多个机器人控制器。机器人控制器经由控制网络彼此连接，并且还连接到信息网络。具有检查状态的功能的至少一个机器人控制器向其他机器人控制器发送数据和从其他机器人控制器接收数据，并且还在教学操作的显示器上指示关于网络和机器人的状态的信息所述至少一个机器人控制器的面板。

5. 发明授权

US07734358B2 Data processing apparatus for arc welding 有权
标题翻译：电弧焊接用数据处理装置
公开(公告)号：US07734358B2
公开(公告)日：2010-06-08
申请号：US11185730
申请日：2005-07-21
申请人： Atsushi Watanabe , Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Atsushi Watanabe , Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： G06F19/00 , G06F15/18
CPC分类号： G05B19/425 , G05B2219/39029 , G05B2219/40387 , G05B2219/40394
摘要： A data processing apparatus for processing data described in a welding operation program of an arc welding robot system. The data processing apparatus includes a data obtaining section for obtaining a plurality of position and orientation data at a plurality of different teaching points previously taught and included in the welding operation program; a reference plane setting section for setting a virtual reference plane as a reference defining a geometric placement of an arc welding torch relative to a workpiece during a welding operation, based on the position and orientation data obtained in the data obtaining section; an angle calculating section for calculating a plurality of angle data representing the geometric placement of the arc welding torch at every teaching points, by using the position and orientation data obtained in the data obtaining section and the virtual reference plane set in the reference plane setting section; and an angle processing section for performing at least one of a displaying process and a correcting process of the angle data calculated in the angle calculating section.
摘要翻译：一种用于处理电弧焊机器人系统的焊接操作程序中描述的数据的数据处理装置。数据处理装置包括数据获取部分，用于在先前教导并包括在焊接操作程序中的多个不同教学点处获得多个位置和方向数据; 参考平面设定部，其基于在所述数据取得部中获取的位置和取向数据，将虚拟参考平面作为基准来定义焊接操作期间相对于工件的几何位置的参考; 角度计算部分，用于通过使用在数据获取部分中获得的位置和取向数据以及在参考平面设置部分中设置的虚拟参考平面来计算表示每个教导点处的电弧焊炬的几何位置的多个角度数据 ; 以及角度处理部，用于执行角度计算部中计算出的角度数据的显示处理和校正处理中的至少一个。

6. 发明申请

US20070282485A1 Robot simulation apparatus 有权
标题翻译：机器人模拟装置
公开(公告)号：US20070282485A1
公开(公告)日：2007-12-06
申请号：US11806344
申请日：2007-05-31
申请人： Yoshiharu Nagatsuka , Kozo Inoue
发明人： Yoshiharu Nagatsuka , Kozo Inoue
IPC分类号： G06F19/00
CPC分类号： B25J9/1671 , G05B19/4069 , G05B2219/32351 , G05B2219/39031 , G05B2219/40003 , G05B2219/40121 , G05B2219/40122 , G05B2219/40127 , G05B2219/40131 , G05B2219/40314 , Y02P90/26 , Y02P90/265
摘要： A robot simulation apparatus (10) capable of creating and executing a robot program includes a virtual space creating unit (31) for creating a virtual space (60), a workpiece model layout unit (32) for automatically arranging at least one workpiece model (40) in an appropriate posture at an appropriate position in a workpiece accommodation unit model (24) defined in the virtual space, a virtual camera unit (33) for acquiring a virtual image (52) of workpiece models existing in the range of a designated visual field as viewed from a designated place in the virtual space, a correcting unit (34) for correcting the teaching points in the robot program based on the virtual image, and a simulation unit (35) for simulating the operation of the robot handling the workpieces, and as a result, interference between the robot and the workpieces can be predicted while at the same time accurately determining the required workpiece handling time.
摘要翻译：能够创建和执行机器人程序的机器人模拟装置（10）包括用于创建虚拟空间（60）的虚拟空间创建单元（31），用于自动布置至少一个工件模型的工件模型布局单元（32） 40），其位于在虚拟空间中定义的工件容纳单元模型（24）中的适当位置处的适当姿态;虚拟相机单元（33），用于获取存在于指定范围内的工件模型的虚拟图像（52）从虚拟空间中的指定位置观看的视野，用于基于虚拟图像校正机器人程序中的教导点的校正单元（34），以及用于模拟机器人处理的机器人的操作的模拟单元（35）工件，结果，可以预测机器人与工件之间的干涉，同时精确地确定所需的工件处理时间。

7. 发明申请

US20070073444A1 Offline teaching apparatus for robot 审中-公开
标题翻译：机器人离线教学仪器
公开(公告)号：US20070073444A1
公开(公告)日：2007-03-29
申请号：US11527529
申请日：2006-09-27
申请人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
发明人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
IPC分类号： G06F19/00
CPC分类号： B25J9/1684 , B25J9/1671 , G05B2219/39102 , G05B2219/40323 , G05B2219/40478
摘要： An offline teaching apparatus for generating, in an offline mode, a robot operation relating to tracking and working relative to a workpiece traveling along a carrier route. The apparatus includes a model-image generating section for generating images of a carrier-route model, a workpiece model and a robot model; an indicator generating section for generating a base-point indicator, and upstream-end and downstream-end indicators defining a spatial range for performing the robot operation; a display section for displaying, on a screen, the images of the carrier-route model, the workpiece model and the robot model, together with the base-point indicator, the upstream-end indicator and the downstream-end indicator; a carrying-operation simulating section for causing the workpiece model to simulate a workpiece traveling motion along the carrier-route model; and a robot-operation simulating section for causing the robot model to simulate the robot operation, during a period from an instant the workpiece model passes by the upstream-end indicator until an instant the workpiece model arrives at the downstream-end indicator.
摘要翻译：一种离线教学装置，用于在离线模式下生成与沿着载体路线行进的工件相关的跟踪和加工相关的机器人操作。该装置包括用于生成载体路线模型，工件模型和机器人模型的图像的模型图像生成部分; 用于产生基点指示符的指示符产生部分和限定用于执行机器人操作的空间范围的上游端和下游指示符; 显示部，与基站指示符，上游指示符和下游指示符一起在屏幕上显示载体路线模型，工件模型和机器人模型的图像; 用于使工件模型沿着载体路线模型模拟工件行进运动的运载模拟部分; 以及机器人操作模拟部分，用于在从工件模型经过上游指示器的瞬间到工件模型到达下游指示器的时刻期间，使机器人模型模拟机器人操作。

8. 发明申请

US20070050091A1 Robot monitoring system 审中-公开
标题翻译：机器人监控系统
公开(公告)号：US20070050091A1
公开(公告)日：2007-03-01
申请号：US11513187
申请日：2006-08-31
申请人： Yoshiharu Nagatsuka , Hirohiko Kobayashi
发明人： Yoshiharu Nagatsuka , Hirohiko Kobayashi
IPC分类号： G05B15/00
CPC分类号： B25J9/1674 , B25J9/1671
摘要： A robot monitoring system including a robot controller for controlling a robot; and an image generating apparatus for generating, based on robot-control related information obtained from the robot controller, a three-dimensional model image showing the robot and a working environment thereof as a dynamic image corresponding to an actual motion of the robot. The image generating apparatus includes a display-condition setting section for setting a display condition to be changeable corresponding to the actual motion of the robot, the display condition including at least one of a line of sight and a drawing type; and a dynamic-image generating section for generating the dynamic image to be replaceable according to a change, occurring corresponding to the actual motion of the robot, in the display condition. The robot-control related information, obtained from the robot controller, includes an operation program for commanding a certain operation to the robot. A command relating to a change in the display condition is described in the operation program.
摘要翻译：一种机器人监视系统，包括用于控制机器人的机器人控制器; 以及图像生成装置，其基于从所述机器人控制器获得的机器人控制相关信息，生成表示所述机器人的三维模型图像及其作业环境，作为与所述机器人的实际运动对应的动态图像。图像生成装置包括：显示条件设定部，用于根据机器人的实际运动来设定可变化的显示条件，所述显示条件包括视线和绘图类型中的至少一个; 以及动态图像生成部，用于根据在所述显示状态下对应于所述机器人的实际运动而发生的变化来生成可更换的动态图像。从机器人控制器获得的机器人控制相关信息包括用于向机器人指令某一操作的操作程序。在操作程序中描述与显示条件的变化有关的命令。

9. 发明申请

US20060069464A1 Robot program production system 审中-公开
标题翻译：机器人程序生产系统
公开(公告)号：US20060069464A1
公开(公告)日：2006-03-30
申请号：US11236489
申请日：2005-09-28
申请人： Yoshiharu Nagatsuka , Hirohiko Kobayashi
发明人： Yoshiharu Nagatsuka , Hirohiko Kobayashi
IPC分类号： G06F19/00
CPC分类号： G05B19/425
摘要： A robot program production system includes: a storage block that saves pieces of information on teaching points to be taught to a robot and information on an ambient environment model representing the robot and others; a programming unit that produces off-line a robot program; and a robot control unit that controls the action of the robot so as to move the robot to a teaching point. The programming unit includes a means for determining a path, along which the robot is moved from the current position to a teaching point, which should be corrected, without interference with a work and obstacles, on the basis of the pieces of information on teaching points and the information on the ambient environment model. The robot control unit includes a means for moving the robot to the teaching point, which should be corrected, along the determined path. Information on the teaching point that should be corrected is replaced with information on an actual teaching point acquired after completion of the movement, whereby the information on the teaching point described in the robot program is corrected quickly. This results in a program capable of protecting the robot and ambient facilities from being damaged.
摘要翻译：机器人程序生产系统包括：存储块，其将关于待教导的教学点的信息保存到机器人;以及关于表示机器人的周围环境模型的信息; 一个生产离线机器人程序的编程单元; 以及机器人控制单元，其控制机器人的动作，以将机器人移动到教学点。编程单元包括用于确定机器人从当前位置移动到教导点的路径的装置，该路径应该被校正，而不会干扰工作和障碍物，基于关于教学点的信息以及关于环境环境模型的信息。机器人控制单元包括用于沿所确定的路径将机器人移动到教导点的装置，该装置应当被校正。关于要修正的教学点的信息将被替换为运动完成后获得的实际教学点的信息，从而快速校正机器人程序中描述的教学点的信息。这导致能够保护机器人和环境设施免受损坏的程序。

10. 发明申请

US20050096892A1 Simulation apparatus 有权
标题翻译：模拟装置
公开(公告)号：US20050096892A1
公开(公告)日：2005-05-05
申请号：US10972675
申请日：2004-10-26
申请人： Atsushi Watanabe , Yoshiharu Nagatsuka
发明人： Atsushi Watanabe , Yoshiharu Nagatsuka
IPC分类号： B25J9/22 , B25J9/16 , G05B19/4068 , G05B19/4093 , G06F19/00 , G06G7/48
CPC分类号： G05B19/4069 , B25J9/1671 , G05B2219/32351 , G05B2219/39031 , G05B2219/40003 , G05B2219/40121 , G05B2219/40131 , G05B2219/40314 , G05B2219/40323 , Y02P90/26 , Y02P90/265
摘要： A work cell is defined on the simulation apparatus and a robot mounting an image capturing device, a workpiece, etc. are arranged in it; a separately set visual volume model is introduced into it, a tool coordinate system (tool tip point) is defined at a view point, and a detection reference point (detection reference coordinate system) is set relating to the workpiece; a graphic jog is performed to make the robot move so that the tool coordinate system matches with the detection reference coordinate system; and a simulated correction amount by the visual sensor is designated and the display of the visual volume model is switched on and off in accordance with output/nonoutput of the image capturing command at the time of simulation of the operation program.
摘要翻译：在模拟装置上定义工作单元，并且在其中布置安装图像捕获装置，工件等的机器人; 在其中引入单独设置的视觉体积模型，在视点定义工具坐标系（工具尖端点），并且设置与工件有关的检测参考点（检测参考坐标系）; 执行图形点动以使机器人移动，使得工具坐标系与检测基准坐标系匹配; 并且指定视觉传感器的模拟校正量，并且在模拟操作程序时根据图像捕获命令的输出/非输出来打开和关闭视觉体积模型的显示。

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